Real-time localization and 3D semantic map reconstruction for unstructured citrus orchards

Juntao Xiong, Junhao Liang, Yanyun Zhuang, Dan Hong,Zhenhui Zheng,Shisheng Liao,Wenxin Hu,Zhengang Yang

Computers and Electronics in Agriculture（2023）

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摘要

•A method has been proposed for real-time localization and 3D semantic map reconstruction for unstructured citrus orchards.•The Statistical Outlier Removal filter is applied to remove outliers and build a more precise semantic map.•OctoMap is introduced for the construction of flexible, memory-efficient, and real-time updatable semantic maps.

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关键词

Visual inertial SLAM,Semantic segmentation,Point cloud map,Semantic map

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